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Remove robot_description parameter from ros2_control node
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It now uses the description topic from the robot_state_publisher automatically.
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@fmauch @VinDp
fmauch authored and VinDp committed Mar 18, 2024
1 parent e119ee1 commit 6ac537a
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1 change: 0 additions & 1 deletion ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -242,7 +242,6 @@ def launch_setup(context, *args, **kwargs):
package="controller_manager",
executable="ros2_control_node",
parameters=[
robot_description,

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@MatthijsBurgh

MatthijsBurgh Mar 22, 2024

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Now the controller_manager is listening for the robot_description on /controller_manager/robot_description, while it is published on /robot_description.

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@MatthijsBurgh

MatthijsBurgh Mar 22, 2024 •
edited
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This only works with controller_manager>=4.6.0, see ros-controls/ros2_control@dbfe9ea
update_rate_config_file,
ParameterFile(initial_joint_controllers, allow_substs=True),
],
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